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PX4 Quadrotor | Open PID Analysis |
Uploaded by logloader
| Airframe: | Droneblocks DEXI 5 Quadrotor x (4601) |
| Hardware: | ARK_PI6X (ARKPI6X000) |
| Software Version: | f5a5cade |
| OS Version: | NuttX, v11.0.0 |
| Estimator: | EKF2 |
| Logging Duration: | 0:01:44 |
| Vehicle Life Flight Time: | 4 minutes 46 seconds |
| Vehicle UUID: | 000600000000363435363033510800230031 |
| Distance: | 224.0 m |
| Max Altitude Difference: | 23 m |
| Average Speed: | 5.1 km/h |
| Max Speed: | 17.4 km/h |
| Max Speed Horizontal: | 15.2 km/h |
| Max Speed Up: | 17.3 km/h |
| Max Speed Down: | 9.0 km/h |
| Max Tilt Angle: | 28.6 deg |
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Console Output
lt Toolchain: GNU GCC, 10.2.1 20201103 (release) PX4GUID: 000600000000363435363033510800230031 MCU: STM32H7[4|5]xxx, rev. V INFO [param] selected parameter backup file /fs/microsd/parameters_backup.bson Board architecture defaults: /etc/init.d/rc.board_arch_defaults Board defaults: /etc/init.d/rc.board_defaults Loading airframe: /etc/init.d/airframes/4601_droneblocks_dexi_5 INFO [dataman] data manager file '/fs/microsd/dataman' size is 68528 bytes Board sensors: /etc/init.d/rc.board_sensors ina226 #0 on I2C bus 3 address 0x41 icm42688p #0 on SPI bus 1 rotation 3 icm42688p #1 on SPI bus 2 rotation 1 iis2mdc #0 on I2C bus 4 address 0x1E rotation 4 bmp390 #0 on I2C bus 4 address 0x76 INFO [paw3902] using yaw rotation 90.000 degrees (1.571 radians) paw3902 #0 on SPI bus 3 AFBR-S50 Chip ID: 39337, API Version: 17104902 v1.5.6 AFBR-S50LV85D ekf2 [783:237] Starting DShot Driver on /dev/ttyS2 Starting Main GPS on /dev/ttyS0 Starting CRSF RC Input Driver on /dev/ttyS4 Conflicting config for /dev/ttyS4 Starting MAVLink on /dev/ttyS5 INFO [mavlink] mode: Normal, data rate: 1200 B/s on /dev/ttyS5 @ 57600B Starting UXRCE-DDS Client on /dev/ttyS3 INFO [uxrce_dds_client] init serial /dev/ttyS3 @ 3000000 baud WARN [SerialImpl] Using non-standard baudrate: 420000 INFO [crsf_rc] Crsf serial opened sucessfully sercon: Registering CDC/ACM serial driver sercon: Successfully registered the CDC/ACM serial driver Starting MAVLink on /dev/ttyACM0 INFO [mavlink] mode: Normal, data rate: 100000 B/s on /dev/ttyACM0 @ 2000000B ERROR [mavlink] could not open /dev/ttyACM0, retrying INFO [logger] logger started (mode=all) INFO [uavcan] Node ID 1, bitrate 1000000 NuttShell (NSH) NuttX-11.0.0 nsh> [KWARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged WARN [health_and_arming_checks] Preflight Fail: Kill switch engaged INFO [uxrce_dds_client] synchronized with time offset 1716333451851673us INFO [uxrce_dds_client] successfully created rt/fmu/out/battery_status data writer, topic id: 19 INFO [uxrce_dds_client] successfully created rt/fmu/out/estimator_status_flags data writer, topic id: 87 INFO [uxrce_dds_client] successfully created rt/fmu/out/failsafe_flags data writer, topic id: 93 INFO [uxrce_dds_client] successfully created rt/fmu/out/manual_control_setpoint data writer, topic id: 141 INFO [uxrce_dds_client] successfully created rt/fmu/out/position_setpoint_triplet data writer, topic id: 180 INFO [uxrce_dds_client] successfully created rt/fmu/out/sensor_combined data writer, topic id: 203 INFO [uxrce_dds_client] successfully created rt/fmu/out/timesync_status data writer, topic id: 226 INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_attitude data writer, topic id: 242 INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_control_mode data writer, topic id: 249 INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_command_ack data writer, topic id: 246 INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_local_position data writer, topic id: 256 INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_odometry data writer, topic id: 261 INFO [uxrce_dds_client] successfully created rt/fmu/out/vehicle_status data writer, topic id: 266 INFO [uxrce_dds_client] time sync converged INFO [commander] Armed by RC INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2024-05-21/23_17_58.ulg INFO [logger] Opened full log file: /fs/microsd/log/2024-05-21/23_17_58.ulg INFO [commander] Takeoff detected INFO [commander] Landing detected WARN [ekf2] primary EKF changed 1 (unhealthy) -> 0 INFO [commander] Disarmed by landing WARN [health_and_arming_checks] Preflight Fail: height estimate not stable INFO [logger] closed logfile, bytes written: 2532557 INFO [commander] Armed by RC INFO [logger] Start file log (type: full) INFO [logger] [logger] /fs/microsd/log/2024-05-21/23_18_17.ulg INFO [logger] Opened full log file: /fs/microsd/log/2024-05-21/23_18_17.ulg
Processes
Pre Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 25761 27.996 296/ 768 0 ( 0) READY 3 1 hpwork 7 0.795 1612/ 2944 249 (249) w:sem 3 2 lpwork 0 0.000 292/ 1576 50 ( 50) w:sem 3 3 nsh_main 0 0.000 2164/ 3144 100 (100) w:sem 3 4 wq:manager 0 0.000 548/ 1232 255 (255) w:sem 5 5 wq:lp_default 1 0.174 1308/ 1976 205 (205) w:sem 5 1065 log_writer_file 5 0.570 660/ 1144 60 ( 60) w:sem 4 479 wq:hp_default 40 4.007 2116/ 2776 237 (237) w:sem 5 503 dataman 0 0.001 828/ 1376 90 ( 90) w:sem 5 539 wq:I2C3 0 0.055 984/ 2312 244 (244) w:sem 5 542 wq:SPI1 60 6.034 1816/ 2368 253 (253) w:sem 5 552 wq:SPI2 54 5.454 1816/ 2368 252 (252) w:sem 5 554 wq:I2C4 4 0.461 864/ 2312 243 (243) w:sem 5 566 wq:SPI3 2 0.288 848/ 2368 251 (251) w:sem 5 764 wq:nav_and_controllers 30 3.047 1460/ 2216 242 (242) w:sem 5 765 wq:rate_ctrl 78 7.846 2312/ 3120 255 (255) w:sem 5 774 wq:INS0 40 4.047 3588/ 5976 241 (241) w:sem 5 775 wq:INS1 38 3.835 3588/ 5976 240 (240) w:sem 5 779 commander 5 0.554 1460/ 3192 140 (140) w:sig 5 850 gps 0 0.031 1196/ 1936 205 (205) w:sem 4 909 mavlink_if0 10 1.052 1828/ 2704 100 (100) w:sig 5 910 mavlink_rcv_if0 1 0.181 1316/ 4776 175 (175) w:sem 5 949 uxrce_dds_client 34 3.398 9284/11872 100 (100) w:sem 25 954 wq:ttyS4 6 0.600 1156/ 1704 230 (230) READY 5 975 mavlink_if1 34 3.463 1852/ 2800 100 (100) w:sig 6 980 navigator 0 0.081 1504/ 2104 105 (105) w:sem 11 1048 logger 44 4.469 3060/ 3616 230 (230) RUN 4 1100 mavlink_rcv_if1 195 19.482 1756/ 4776 175 (175) READY 6 1073 wq:uavcan 8 0.847 2204/ 3600 236 (236) w:sem 5 Processes: 29 total, 4 running, 25 sleeping CPU usage: 70.78% tasks, 1.23% sched, 28.00% idle DMA Memory: 5120 total, 2048 used 2048 peak Uptime: 47.182s total, 25.761s idle
Post Flight:
PID COMMAND CPU(ms) CPU(%) USED/STACK PRIO(BASE) STATE FD 0 Idle Task 80391 50.114 296/ 768 0 ( 0) READY 3 1 hpwork 7 0.745 1612/ 2944 249 (249) w:sem 3 2 lpwork 0 0.000 292/ 1576 50 ( 50) w:sem 3 3 nsh_main 0 0.000 2164/ 3144 100 (100) w:sem 3 4 wq:manager 0 0.000 548/ 1232 255 (255) w:sem 5 5 wq:lp_default 15 1.515 1308/ 1976 205 (205) w:sem 5 1065 log_writer_file 5 0.545 660/ 1144 60 ( 60) w:sem 4 479 wq:hp_default 37 3.745 2116/ 2776 237 (237) w:sem 5 503 dataman 0 0.001 828/ 1376 90 ( 90) w:sem 5 539 wq:I2C3 0 0.058 984/ 2312 244 (244) w:sem 5 542 wq:SPI1 56 5.611 1816/ 2368 253 (253) w:sem 5 552 wq:SPI2 50 5.073 1816/ 2368 252 (252) w:sem 5 554 wq:I2C4 4 0.446 864/ 2312 243 (243) w:sem 5 566 wq:SPI3 2 0.278 848/ 2368 251 (251) w:sem 5 764 wq:nav_and_controllers 34 3.421 1460/ 2216 242 (242) w:sem 5 765 wq:rate_ctrl 72 7.271 2312/ 3120 255 (255) w:sem 5 774 wq:INS0 37 3.749 3588/ 5976 241 (241) w:sem 5 775 wq:INS1 35 3.574 3588/ 5976 240 (240) w:sem 5 779 commander 5 0.559 1572/ 3192 140 (140) w:sig 5 850 gps 0 0.026 1196/ 1936 205 (205) w:sem 4 909 mavlink_if0 10 1.091 1868/ 2704 100 (100) w:sig 5 910 mavlink_rcv_if0 4 0.487 1476/ 4776 175 (175) w:sem 5 949 uxrce_dds_client 33 3.305 9284/11872 100 (100) w:sem 25 954 wq:ttyS4 6 0.628 1156/ 1704 230 (230) w:sem 5 975 mavlink_if1 35 3.566 1868/ 2800 100 (100) READY 6 980 navigator 0 0.087 1504/ 2104 105 (105) w:sem 11 1048 logger 16 1.686 3060/ 3616 230 (230) RUN 4 1100 mavlink_rcv_if1 4 0.497 1756/ 4776 175 (175) w:sem 6 1073 wq:uavcan 8 0.887 2204/ 3600 236 (236) w:sem 5 Processes: 29 total, 3 running, 26 sleeping CPU usage: 48.86% tasks, 1.03% sched, 50.11% idle DMA Memory: 5120 total, 2048 used 2560 peak Uptime: 150.915s total, 80.392s idle
Performance Counters
Pre Flight:
vehicle_optical_flow: cycle: 5010 events, 104401us elapsed, 20.84us avg, min 11us max 202us 30.149us rms mission_dm_cache_miss: 0 events DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms rtl_dm_cache_miss_land: 0 events DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms rtl_dm_cache_miss_geo: 0 events DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us nanus rms mission_dm_cache_miss: 0 events uavcan: cycle interval: 6548 events, 2999.54 avg, min 1667us max 4196us 198.062us rms uavcan: cycle time: 6548 events, 146423us elapsed, 22.36us avg, min 14us max 779us 65.709us rms rgbled: led_control message missed: 0 events control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms geofence_dm_cache_miss: 0 events logger_sd_fsync_mission: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms logger_sd_write_mission: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms logger_sd_fsync: 45 events, 343828us elapsed, 7640.62us avg, min 4650us max 11709us 1872.189us rms logger_sd_write: 559 events, 1588633us elapsed, 2841.92us avg, min 5us max 17598us 1734.505us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 1 events, 0.00 avg, min 0us max 0us infus rms gyro_fft: gyro FIFO data gap: 1 events gyro_fft: FFT: 3648 events, 513539us elapsed, 140.77us avg, min 126us max 367us 26.968us rms gyro_fft: cycle interval: 7872 events, 2495.43 avg, min 245us max 2754us 33.475us rms gyro_fft: cycle: 7872 events, 582353us elapsed, 73.98us avg, min 3us max 403us 107.852us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms navigator: 415 events, 9645us elapsed, 23.24us avg, min 18us max 335us 39.451us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 6479 events, 3031.25 avg, min 2112us max 37882us 547.858us rms mavlink: tx run elapsed: 6479 events, 1028364us elapsed, 158.72us avg, min 85us max 2281us 201.406us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us nanus rms crsf_rc: publish interval: 3627 events, 5414.32 avg, min 4039us max 55780us 2649.045us rms crsf_rc: cycle interval: 3627 events, 5413.81 avg, min 4038us max 55795us 2648.960us rms uxrce_dds_client: cycle interval: 3946 events, 4975.05 avg, min 101us max 41385us 3926.688us rms uxrce_dds_client: cycle: 3945 events, 19626620us elapsed, 4975.06us avg, min 100us max 41383us 5211.835us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 1959 events, 10025.02 avg, min 9231us max 41195us 774.953us rms mavlink: tx run elapsed: 1959 events, 281645us elapsed, 143.77us avg, min 86us max 2638us 174.478us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mag_bias_estimator: cycle: 233 events, 5282us elapsed, 22.67us avg, min 8us max 603us 88.069us rms land_detector: cycle: 1968 events, 23824us elapsed, 12.11us avg, min 8us max 99us 18.280us rms mc_pos_control: cycle time: 1968 events, 39894us elapsed, 20.27us avg, min 5us max 166us 21.647us rms flight_mode_manager: cycle: 982 events, 19401us elapsed, 19.76us avg, min 3us max 172us 64.493us rms mc_hover_thrust_estimator: cycle time: 1866 events, 4065us elapsed, 2.18us avg, min 1us max 75us 6.167us rms mc_autotune_attitude_control: cycle time: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mc_att_control: cycle: 3936 events, 53439us elapsed, 13.58us avg, min 8us max 113us 7.485us rms mc_rate_control: cycle: 15743 events, 135404us elapsed, 8.60us avg, min 7us max 20us 1.635us rms control_allocator: cycle: 15743 events, 291055us elapsed, 18.49us avg, min 16us max 35us 3.370us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 1967 events, 543704us elapsed, 276.41us avg, min 83us max 898us 238.679us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 1968 events, 396490us elapsed, 201.47us avg, min 83us max 682us 136.730us rms pwm_out: interval: 65 events, 295385.00 avg, min 299719us max 300281us 115.106us rms pwm_out: cycle: 65 events, 245us elapsed, 3.77us avg, min 2us max 18us 11.968us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dshot: cycle: 15743 events, 324284us elapsed, 20.60us avg, min 16us max 35us 4.865us rms control latency: 15743 events, 2985838us elapsed, 189.66us avg, min 178us max 275us 9.530us rms commander: preflight check: 181 events, 32635us elapsed, 180.30us avg, min 107us max 964us 234.715us rms commander: cycle: 1782 events, 153349us elapsed, 86.05us avg, min 34us max 1596us 176.912us rms vehicle_imu: gyro data gap: 0 events vehicle_imu: accel data gap: 0 events vehicle_imu: gyro data gap: 0 events vehicle_imu: accel data gap: 0 events vehicle_magnetometer: cycle: 1702 events, 36678us elapsed, 21.55us avg, min 15us max 224us 31.825us rms vehicle_gps_position: cycle: 65 events, 157us elapsed, 2.42us avg, min 2us max 4us 15.557us rms vehicle_air_data: cycle: 454 events, 7186us elapsed, 15.83us avg, min 10us max 189us 30.010us rms vehicle_angular_velocity: gyro dynamic notch filter FFT update: 731 events vehicle_angular_velocity: gyro dynamic notch filter FFT disable: 82 events vehicle_angular_velocity: gyro dynamic notch filter ESC RPM update: 29148 events vehicle_angular_velocity: gyro dynamic notch filter ESC RPM init: 1554 events vehicle_angular_velocity: gyro dynamic notch filter ESC RPM disable: 0 events vehicle_angular_velocity: gyro selection changed: 1 events vehicle_angular_velocity: gyro filter reset: 1 events vehicle_angular_velocity: gyro filter: 15745 events, 585074us elapsed, 37.16us avg, min 31us max 204us 7.565us rms sensors: 3936 events, 102011us elapsed, 25.92us avg, min 18us max 134us 44.258us rms afbrs50: irq callback: 1958 events, 9653us elapsed, 4.93us avg, min 3us max 8us 1.218us rms afbrs50: transfer callback: 5001 events, 88462us elapsed, 17.69us avg, min 1us max 234us 52.175us rms afbrs50: transfer: 5001 events, 1300703us elapsed, 260.09us avg, min 16us max 1258us 632.016us rms afbrs50: sample interval: 979 events, 20051.54 avg, min 19216us max 20870us 133.358us rms paw3902: no motion interrupt: 1137 events paw3902: mode change super low light (2): 0 events paw3902: mode change low light (1): 0 events paw3902: mode change bright (0): 0 events paw3902: false motion report: 0 events paw3902: reset: 0 events paw3902: bad transfer: 0 events paw3902: bad register: 0 events bmp388: comms errors: 0 events bmp388: measure: 454 events, 519125us elapsed, 1143.45us avg, min 1089us max 1411us 87.680us rms bmp388: read: 454 events, 435559us elapsed, 959.38us avg, min 943us max 1101us 51.340us rms iis2mdc_comms_errors: 0 events iis2mdc_read: 1702 events icm42688p: DRDY missed: 0 events icm42688p: FIFO reset: 0 events icm42688p: FIFO overflow: 0 events icm42688p: FIFO empty: 0 events icm42688p: bad transfer: 0 events icm42688p: bad register: 0 events icm42688p: DRDY missed: 0 events icm42688p: FIFO reset: 0 events icm42688p: FIFO overflow: 0 events icm42688p: FIFO empty: 0 events icm42688p: bad transfer: 0 events icm42688p: bad register: 0 events ina226_measurement_err: 0 events ina226_collection_err: 0 events ina226_com_err: 0 events ina226_read: 194 events, 193563us elapsed, 997.75us avg, min 984us max 1138us 49.889us rms board_adc: sample: 5895 events, 20996us elapsed, 3.56us avg, min 2us max 798us 30.820us rms manual_control: interval: 706 events, 27706.45 avg, min 3302us max 200021us 30491.434us rms manual_control: cycle: 706 events, 12727us elapsed, 18.03us avg, min 10us max 822us 55.043us rms rc_update: valid data interval: 1827 events, 10745.37 avg, min 4087us max 59860us 3436.792us rms rc_update: cycle interval: 3627 events, 5414.32 avg, min 4039us max 55800us 2653.919us rms rc_update: cycle: 3627 events, 61188us elapsed, 16.87us avg, min 8us max 980us 62.595us rms load_mon: cycle: 40 events, 3948us elapsed, 98.70us avg, min 65us max 516us 101.178us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dma_alloc: 13 events param: set: 3 events, 5us elapsed, 1.67us avg, min 1us max 3us 35.018us rms param: get: 3850 events param: find: 3072 events param: export: 1 events, 12259us elapsed, 12259.00us avg, min 12259us max 12259us nanus rms
Post Flight:
vehicle_optical_flow: cycle: 27053 events, 575284us elapsed, 21.27us avg, min 12us max 384us 21.270us rms mission_dm_cache_miss: 0 events DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms rtl_dm_cache_miss_land: 0 events DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms rtl_dm_cache_miss_geo: 0 events DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us nanus rms mission_dm_cache_miss: 0 events uavcan: cycle interval: 34890 events, 2999.92 avg, min 1743us max 4447us 203.586us rms uavcan: cycle time: 34890 events, 785647us elapsed, 22.52us avg, min 14us max 1116us 54.570us rms rgbled: led_control message missed: 0 events control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms geofence_dm_cache_miss: 0 events logger_sd_fsync_mission: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms logger_sd_write_mission: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms logger_sd_fsync: 288 events, 2234295us elapsed, 7757.97us avg, min 4us max 19260us 2406.470us rms logger_sd_write: 3755 events, 11792537us elapsed, 3140.49us avg, min 5us max 29667us 2045.011us rms gyro_calibration: calibration updated: 0 events gyro_calibration: interval: 11 events, 9090907.27 avg, min 9999683us max 10000317us 164.867us rms gyro_fft: gyro FIFO data gap: 3 events gyro_fft: FFT: 19473 events, 2790224us elapsed, 143.29us avg, min 126us max 438us 23.910us rms gyro_fft: cycle interval: 41936 events, 2495.88 avg, min 517us max 3541us 139.289us rms gyro_fft: cycle: 41936 events, 3156391us elapsed, 75.27us avg, min 4us max 457us 87.452us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms navigator: 2213 events, 49820us elapsed, 22.51us avg, min 17us max 449us 25.048us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 34579 events, 3026.73 avg, min 2098us max 14855us 321.956us rms mavlink: tx run elapsed: 34579 events, 5604196us elapsed, 162.07us avg, min 85us max 2071us 168.791us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us nanus rms crsf_rc: publish interval: 19911 events, 5256.56 avg, min 4038us max 66082us 1959.774us rms crsf_rc: cycle interval: 19911 events, 5256.57 avg, min 4038us max 66082us 1961.690us rms uxrce_dds_client: cycle interval: 21996 events, 4758.32 avg, min 100us max 16227us 4210.288us rms uxrce_dds_client: cycle: 21995 events, 104634256us elapsed, 4757.18us avg, min 99us max 16226us 4753.650us rms mavlink: STATUSTEXT missed messages: 0 events mavlink: forwarding error: 0 events mavlink: send_bytes error: 0 events mavlink: tx run interval: 10461 events, 10004.65 avg, min 9181us max 21421us 174.677us rms mavlink: tx run elapsed: 10461 events, 1556850us elapsed, 148.82us avg, min 87us max 1260us 128.992us rms DatamanClient: sync: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mag_bias_estimator: cycle: 35 events, 502us elapsed, 14.34us avg, min 1us max 74us 230.345us rms land_detector: cycle: 10486 events, 123302us elapsed, 11.76us avg, min 8us max 92us 12.222us rms mc_pos_control: cycle time: 10486 events, 311355us elapsed, 29.69us avg, min 6us max 417us 21.381us rms flight_mode_manager: cycle: 5234 events, 148869us elapsed, 28.44us avg, min 3us max 243us 33.706us rms mc_hover_thrust_estimator: cycle time: 10074 events, 41315us elapsed, 4.10us avg, min 1us max 85us 5.938us rms mc_autotune_attitude_control: cycle time: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms mc_att_control: cycle: 20970 events, 235853us elapsed, 11.25us avg, min 8us max 138us 5.100us rms mc_rate_control: cycle: 83872 events, 740901us elapsed, 8.83us avg, min 7us max 29us 1.178us rms control_allocator: cycle: 83872 events, 1544332us elapsed, 18.41us avg, min 16us max 129us 2.630us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 10484 events, 3036529us elapsed, 289.63us avg, min 83us max 934us 181.661us rms ekf2: IMU message missed: 0 events ekf2: EKF update: 10484 events, 2081970us elapsed, 198.59us avg, min 84us max 606us 105.318us rms pwm_out: interval: 349 events, 299140.40 avg, min 299313us max 300843us 170.881us rms pwm_out: cycle: 349 events, 1238us elapsed, 3.55us avg, min 2us max 35us 5.443us rms control latency: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dshot: cycle: 83872 events, 1746118us elapsed, 20.82us avg, min 16us max 39us 3.795us rms control latency: 83872 events, 15909918us elapsed, 189.69us avg, min 178us max 519us 8.708us rms commander: preflight check: 956 events, 183940us elapsed, 192.41us avg, min 106us max 7322us 295.402us rms commander: cycle: 9510 events, 804000us elapsed, 84.54us avg, min 34us max 7860us 155.363us rms vehicle_imu: gyro data gap: 0 events vehicle_imu: accel data gap: 0 events vehicle_imu: gyro data gap: 0 events vehicle_imu: accel data gap: 0 events vehicle_magnetometer: cycle: 9065 events, 200601us elapsed, 22.13us avg, min 15us max 1468us 29.005us rms vehicle_gps_position: cycle: 349 events, 923us elapsed, 2.64us avg, min 2us max 15us 6.819us rms vehicle_air_data: cycle: 2418 events, 38490us elapsed, 15.92us avg, min 10us max 236us 21.381us rms vehicle_angular_velocity: gyro dynamic notch filter FFT update: 2579 events vehicle_angular_velocity: gyro dynamic notch filter FFT disable: 151 events vehicle_angular_velocity: gyro dynamic notch filter ESC RPM update: 219885 events vehicle_angular_velocity: gyro dynamic notch filter ESC RPM init: 9279 events vehicle_angular_velocity: gyro dynamic notch filter ESC RPM disable: 0 events vehicle_angular_velocity: gyro selection changed: 4 events vehicle_angular_velocity: gyro filter reset: 4 events vehicle_angular_velocity: gyro filter: 83876 events, 3109479us elapsed, 37.07us avg, min 31us max 247us 7.299us rms sensors: 20970 events, 534136us elapsed, 25.47us avg, min 18us max 1451us 23.747us rms afbrs50: irq callback: 10388 events, 50706us elapsed, 4.88us avg, min 1us max 8us 0.954us rms afbrs50: transfer callback: 26573 events, 459659us elapsed, 17.30us avg, min 1us max 259us 39.847us rms afbrs50: transfer: 26573 events, 6859998us elapsed, 258.16us avg, min 16us max 1273us 495.039us rms afbrs50: sample interval: 5194 events, 20149.71 avg, min 18792us max 143493us 2992.411us rms paw3902: no motion interrupt: 2205 events paw3902: mode change super low light (2): 0 events paw3902: mode change low light (1): 0 events paw3902: mode change bright (0): 0 events paw3902: false motion report: 0 events paw3902: reset: 0 events paw3902: bad transfer: 0 events paw3902: bad register: 0 events bmp388: comms errors: 0 events bmp388: measure: 2418 events, 2753363us elapsed, 1138.69us avg, min 1089us max 1415us 69.522us rms bmp388: read: 2418 events, 2319153us elapsed, 959.12us avg, min 942us max 1133us 41.178us rms iis2mdc_comms_errors: 0 events iis2mdc_read: 9065 events icm42688p: DRDY missed: 0 events icm42688p: FIFO reset: 0 events icm42688p: FIFO overflow: 0 events icm42688p: FIFO empty: 0 events icm42688p: bad transfer: 0 events icm42688p: bad register: 0 events icm42688p: DRDY missed: 0 events icm42688p: FIFO reset: 0 events icm42688p: FIFO overflow: 0 events icm42688p: FIFO empty: 0 events icm42688p: bad transfer: 0 events icm42688p: bad register: 0 events ina226_measurement_err: 0 events ina226_collection_err: 0 events ina226_com_err: 0 events ina226_read: 1032 events, 1029740us elapsed, 997.81us avg, min 982us max 1157us 37.760us rms board_adc: sample: 31401 events, 110656us elapsed, 3.52us avg, min 2us max 944us 23.928us rms manual_control: interval: 5671 events, 18455.91 avg, min 5202us max 200247us 21863.250us rms manual_control: cycle: 5671 events, 110937us elapsed, 19.56us avg, min 9us max 995us 59.550us rms rc_update: valid data interval: 10032 events, 10432.96 avg, min 4047us max 70158us 2387.151us rms rc_update: cycle interval: 19911 events, 5256.56 avg, min 4039us max 65918us 1968.454us rms rc_update: cycle: 19911 events, 326534us elapsed, 16.40us avg, min 8us max 979us 48.989us rms load_mon: cycle: 209 events, 22349us elapsed, 106.93us avg, min 65us max 940us 117.947us rms dataman: write: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dataman: read: 0 events, 0us elapsed, 0.00us avg, min 0us max 0us 0.000us rms dma_alloc: 2 events param: set: 57 events, 63us elapsed, 1.11us avg, min 1us max 4us 6.639us rms param: get: 10705 events param: find: 16194 events param: export: 1 events, 12126us elapsed, 12126.00us avg, min 12126us max 12126us nanus rms